EP2283982A1 - Robotised system for filling boxes - Google Patents

Robotised system for filling boxes Download PDF

Info

Publication number
EP2283982A1
EP2283982A1 EP09382143A EP09382143A EP2283982A1 EP 2283982 A1 EP2283982 A1 EP 2283982A1 EP 09382143 A EP09382143 A EP 09382143A EP 09382143 A EP09382143 A EP 09382143A EP 2283982 A1 EP2283982 A1 EP 2283982A1
Authority
EP
European Patent Office
Prior art keywords
cell
cases
robotised
box
previous
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09382143A
Other languages
German (de)
French (fr)
Other versions
EP2283982B1 (en
Inventor
Ramon Gonzalez Lopez
Francisco Velasco Toepfer
Nuria Lis Caldas
Pablo Veiga Torrado
Jorge Fernandez Salgado
Maria del Carmen Fernandez Garcia
Santiago Jorge Gonzalez Rodriguez
Jose Manuel Dominguez Alvarez
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SIMAUPRO GALICIA SL
Simaupro Galicia S L
Original Assignee
SIMAUPRO GALICIA SL
Simaupro Galicia S L
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SIMAUPRO GALICIA SL, Simaupro Galicia S L filed Critical SIMAUPRO GALICIA SL
Priority to ES09382143T priority Critical patent/ES2396018T3/en
Priority to EP20090382143 priority patent/EP2283982B1/en
Priority to PT09382143T priority patent/PT2283982E/en
Publication of EP2283982A1 publication Critical patent/EP2283982A1/en
Application granted granted Critical
Publication of EP2283982B1 publication Critical patent/EP2283982B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/50—Stacking one article, or group of articles, upon another before packaging
    • B65B35/52—Stacking one article, or group of articles, upon another before packaging building-up the stack from the bottom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles

Definitions

  • This invention relates to a robotised system configured to the forming or filling of boxes in order to introduce a set of cases in the cardboard boxes that form their final packaging.
  • the present invention is included in the field of the robotised system used in packing.
  • the filling or forming of boxes with cases is made by hand or by means of automatic systems that introduce part or the whole of the cases by pushing them into the box, which remains motionless, with electro-pneumatic drives, while the inventors with expretise in the subject do not know any other automatised or robotised system which allows filling the cases avoiding the problems arising from the manual labor or from the said automatic systems that make the case-reference change difficult.
  • the system to form boxes for cases comprising essentially a robotised arm with al element to fit the cases, or cell, which is steadily joined to the end of the robotised arm, or hand, and said cell consisting of an essentially rectangular body open in two of its sides, one of them intended to introduce the cases through, while the other one is introduced into the box receiving said cases, and wherein the cell comprises a case buffer at both sides right and left, as well as a drive to prevent the distortion of the box when formed or filled.
  • the robotised system object of the present invention comprises at least one robot arm (1) and an element to fit the cases, or cell (2), steadily joined to the robot arm (1) at its end, or hand, by means of the support of the robot wrist (21), that is placed at one of the cell sides.
  • the cell (2) as an essentially rectangular element that is open in two of its sides, wherein the cases (3) are introduced through one of them - that will be named the front side - and the other one - that will be named the back side - is suitable to be introduced into the box (4) receiving said cases (3).
  • the cell (2) comprises one buffer (22) at both sides right and left, which can be pneumatically driven, as well as a drive (23) to prevent the distortion of the box (4) when formed or filled and to retain it or keep it joined to the cell, and wherein said drive (23) comprises in turn a pneumatic piston (231) and a flap or clasp (232) that retains the box (4) externally from the side corresponding to the bottom of the box.
  • the feeding of the cases (3) takes place by means of a conveyor belt, not shown in the figures attached, whereas the cases (3) are conveniently placed on the said belt through the guide bars arranged at both sides of it, so that in the ordinary movement of the belt the guide bars compel the cases (3) to the right position on the conveyor belt and direct them towards the cell (2), placed at the end of the conveyor belt.
  • the cell (2) is dimensioned proportionally to the box (4) in which it is going to be introduced, in such a way that it can be partially inserted into the box (4), immobilizing it.
  • the cases (3) get into the cell due to the movement of the conveyor belt and to their position on it, and fill the cell row by row.
  • a detector (221) arranged in the cell (2) or between the cell (2) and the end of the conveyor belt detects that the row is complete or that all the cases forming each row have already been introduced; then the robot arm (1) drives slightly the cell (2) back and moves it down along the precise measure of the case (3), so that the next row can be placed on top of the previous one inside the cell (2).
  • the longitudinal buffers (22) arranged on both sides left and right of the cell (2) which are configured to fix the position of the cases (3) inside the cell (2), get unblocked, and, with a turning move of the robot hand (1) that is transmitted to the cell (2) by the support of the wrist (21), the set of cases (3) is dumped into the box (4) fitted on the cell.
  • the robotised arm (1) moves to a precise position and introduces the cell (2) into the box (4) with the drive (23) open.
  • the pneumatic piston (231) is driven to retain the box and, again, the robotised arm (1) moves to place the cell (2) in front of a conveyor belt and to start a new filling cycle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Robotics (AREA)
  • Container Filling Or Packaging Operations (AREA)

Abstract

Robotised system for filling boxes (4) with cases (3), comprising a robotised arm (1) with a cell (2) to fit the cases, steadily joined to the end of the robotised arm (1), or hand, wherein the cell (2) consists of an essentially rectangular body, open in two of its sides, the cases (3) being introduced into one of the side, while the other one of the side is introduced into the box (4) receiving said cases (3), and wherein the cell (2) also comprises one or mare buffers (22) at both sides right and left for fixing the position of the cases (3) inside the cell (2), as well as a drive (23) to prevent the distortion of the box (4) when filled and to keep the box joined to the cell.

Description

  • This invention relates to a robotised system configured to the forming or filling of boxes in order to introduce a set of cases in the cardboard boxes that form their final packaging. The present invention is included in the field of the robotised system used in packing.
    • Description of Prior Art
  • At present, the filling or forming of boxes with cases is made by hand or by means of automatic systems that introduce part or the whole of the cases by pushing them into the box, which remains motionless, with electro-pneumatic drives, while the inventors with expretise in the subject do not know any other automatised or robotised system which allows filling the cases avoiding the problems arising from the manual labor or from the said automatic systems that make the case-reference change difficult.
    • Explanation of the invention
  • As a solution to the technical problem arising from the lack of aumatisation in the filling or forming of boxes with cases, and from the expensive reference changes in the current automatic systems, the system to form boxes for cases in disclosed, comprising essentially a robotised arm with al element to fit the cases, or cell, which is steadily joined to the end of the robotised arm, or hand, and said cell consisting of an essentially rectangular body open in two of its sides, one of them intended to introduce the cases through, while the other one is introduced into the box receiving said cases, and wherein the cell comprises a case buffer at both sides right and left, as well as a drive to prevent the distortion of the box when formed or filled.
  • Through the so discribed system, and due to the positioning of the system at the end of the conveyor belt, the cases get into the cell until it is filled up and, once the cell is full, a simple turn of the robot wrist causes the cases to fall into the box, so that the latter gets filled without any human action.
  • Troughout the description and the claims, the word 'comprises' and its inflections are not intended to exclude other technical characteristics, aditives, componentes or steps. For the experts in the subject, other objects, advantages and characteristics of the invention shall sometimes be deduced from the description and sometimes from the practice of the invention. The next examples and drawings are supplied as an illustration and are not intended to be of limitation for the present invention. Moreover, this invention covers all possible combinations of particular and preferred embodiments described herein.
    • Brief description of the figures
    • FIG. 1
    displays an overview of the robotised system to form boxes for cases, object of this invention, with cases.
    FIG. 2
    displays a detail view of the cell, which configures the system object of this invention along with the robotised arm.
    Preferent embodiment of the invention
  • As shown in FIG. 1, the robotised system object of the present invention comprises at least one robot arm (1) and an element to fit the cases, or cell (2), steadily joined to the robot arm (1) at its end, or hand, by means of the support of the robot wrist (21), that is placed at one of the cell sides.
  • In FIG. 2 can be seen the cell (2) as an essentially rectangular element that is open in two of its sides, wherein the cases (3) are introduced through one of them - that will be named the front side - and the other one - that will be named the back side - is suitable to be introduced into the box (4) receiving said cases (3). Likewise, the cell (2) comprises one buffer (22) at both sides right and left, which can be pneumatically driven, as well as a drive (23) to prevent the distortion of the box (4) when formed or filled and to retain it or keep it joined to the cell, and wherein said drive (23) comprises in turn a pneumatic piston (231) and a flap or clasp (232) that retains the box (4) externally from the side corresponding to the bottom of the box.
  • In the common functioning of the system, the feeding of the cases (3) takes place by means of a conveyor belt, not shown in the figures attached, whereas the cases (3) are conveniently placed on the said belt through the guide bars arranged at both sides of it, so that in the ordinary movement of the belt the guide bars compel the cases (3) to the right position on the conveyor belt and direct them towards the cell (2), placed at the end of the conveyor belt.
  • The cell (2) is dimensioned proportionally to the box (4) in which it is going to be introduced, in such a way that it can be partially inserted into the box (4), immobilizing it. By the other hand, as described above, the cases (3) get into the cell due to the movement of the conveyor belt and to their position on it, and fill the cell row by row.
  • In order to start a new row of cases (3) in the cell, a detector (221) arranged in the cell (2) or between the cell (2) and the end of the conveyor belt detects that the row is complete or that all the cases forming each row have already been introduced; then the robot arm (1) drives slightly the cell (2) back and moves it down along the precise measure of the case (3), so that the next row can be placed on top of the previous one inside the cell (2).
  • When the cell (2) is full, the longitudinal buffers (22) arranged on both sides left and right of the cell (2), which are configured to fix the position of the cases (3) inside the cell (2), get unblocked, and, with a turning move of the robot hand (1) that is transmitted to the cell (2) by the support of the wrist (21), the set of cases (3) is dumped into the box (4) fitted on the cell.
  • The robotised arm (1) moves to a precise position and introduces the cell (2) into the box (4) with the drive (23) open. The pneumatic piston (231) is driven to retain the box and, again, the robotised arm (1) moves to place the cell (2) in front of a conveyor belt and to start a new filling cycle.

Claims (9)

  1. A robotised system to form boxes for cases comprising a robotised arm (1) with an element to fit the cases, or cell (2), steadily joined to the end of the robotised arm (1), or hand, characterized in that
    the cell (2) consists of an essentially rectangular body open in two of its sides, one of them intended to introduce the cases (3) through, while the other one is introduced into the box (4) receiving said cases (3);
    and wherein the cell (2) comprises at least one buffer (22) at both sides right and left, as well as a drive (23) to prevent the distortion of the box (4) when formed or filled.
  2. The robotised system as defined in claim 1, characterized in that the joint between the robotised arm (1) and the cell (2) comprises a support of the robot wrist (21) arranged on one of the sides of the cell (2).
  3. The robotised system as defined in claim 1 and 2, characterized in that the buffers (22) can be driven.
  4. The robotised system as defined in the previous claims, characterized in that the drive (23) comprises itself a pneumatic piston (231) and a flap or clasp (232) that retains the box (4) externally from the side corresponding to the bottom of the box.
  5. The robotised system as defined in the previous claims, characterized in that the feeding of the cases (3) takes place by means of a conveyor belt, whereas the cases (3) are conveniently placed on the said belt through the guide bars arranged at both sides of it, so that in the ordinary movement of the belt the guide bars compel the cases (3) to the right position on the conveyor belt and direct them towards the cell (2), placed at the end of the conveyor belt.
  6. The robotised system as defined in the previous claims, characterized in that the cell (2) is dimensioned proportionally to the box (4) in which it is going to be introduced, in such a way that it can be inserted into the box (4), at least partially, immobilizing it.
  7. The robotised system as defined in the previous claims, characterized in that the cases (3) are introduced into the cell (2) row by row.
  8. The robotised system as defined in the claim 7, characterized in that, when a detector (221) arranged in the cell (2) detects that a row is complete, then the robot arm (1) drives slightly the cell (2) back and moves it down along the precise measure of the case (3), so that the next row can be placed on top of the previous one inside the cell (2).
  9. The robotised system as defined in the previous claims, characterized in that, when the cell (2) is full, the longitudinal buffers (22) arranged on both sides left and right of the cell (2), which are configured to fix the position of the cases (3) inside the cell (2), get unblocked, and, with a turning move of the robot hand (1) that is transmitted to the cell (2) by the support of the wrist (21), the set of cases (3) is dumped into the box (4) fitted on the cell.
EP20090382143 2009-08-12 2009-08-12 Robotised system for filling boxes Not-in-force EP2283982B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
ES09382143T ES2396018T3 (en) 2009-08-12 2009-08-12 Robotic box filling system with cases
EP20090382143 EP2283982B1 (en) 2009-08-12 2009-08-12 Robotised system for filling boxes
PT09382143T PT2283982E (en) 2009-08-12 2009-08-12 Robotised system for filling boxes

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20090382143 EP2283982B1 (en) 2009-08-12 2009-08-12 Robotised system for filling boxes

Publications (2)

Publication Number Publication Date
EP2283982A1 true EP2283982A1 (en) 2011-02-16
EP2283982B1 EP2283982B1 (en) 2012-09-19

Family

ID=41665082

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20090382143 Not-in-force EP2283982B1 (en) 2009-08-12 2009-08-12 Robotised system for filling boxes

Country Status (3)

Country Link
EP (1) EP2283982B1 (en)
ES (1) ES2396018T3 (en)
PT (1) PT2283982E (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106737607A (en) * 2017-02-15 2017-05-31 昆山威创自动化科技有限公司 Six-joint robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4492070A (en) * 1979-04-09 1985-01-08 Morse Hugh B Case loading apparatus and method
WO2001026971A1 (en) * 1999-10-13 2001-04-19 Fps Food Processing Systems B.V. Gripper
JP2004268976A (en) * 2003-03-07 2004-09-30 Shibuya Kogyo Co Ltd Caser
JP2005059918A (en) * 2003-08-18 2005-03-10 Shibuya Kogyo Co Ltd Loading method and loading device for article and piece of paper
FR2866001A1 (en) * 2004-02-05 2005-08-12 Valente Net bags handling and arranging installation for use with bag filling machine, has robotized unit to position each bag in package assembly, and control unit to control forward motion of conveyor and movement of robotized unit

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4492070A (en) * 1979-04-09 1985-01-08 Morse Hugh B Case loading apparatus and method
WO2001026971A1 (en) * 1999-10-13 2001-04-19 Fps Food Processing Systems B.V. Gripper
JP2004268976A (en) * 2003-03-07 2004-09-30 Shibuya Kogyo Co Ltd Caser
JP2005059918A (en) * 2003-08-18 2005-03-10 Shibuya Kogyo Co Ltd Loading method and loading device for article and piece of paper
FR2866001A1 (en) * 2004-02-05 2005-08-12 Valente Net bags handling and arranging installation for use with bag filling machine, has robotized unit to position each bag in package assembly, and control unit to control forward motion of conveyor and movement of robotized unit

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106737607A (en) * 2017-02-15 2017-05-31 昆山威创自动化科技有限公司 Six-joint robot

Also Published As

Publication number Publication date
PT2283982E (en) 2013-01-10
EP2283982B1 (en) 2012-09-19
ES2396018T3 (en) 2013-02-18

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